12
IRB8700_800-350
1
16
0
6
0
0
0
1
0
0
NOPROGRAM
18
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0
2
1
1
4
ABB S4
0
0.042
2500 2500 4500
210 150 210
570 570 570
0.5 0.5 0.5
0.04 0.04
1 2500 0 2 0.02 0.5 0
0 0 0 2 0 2 1 0
kin_abb_irb2000
none
none
6
1 1 1 1
Config_1
Config_2
Config_3
Config_4
0
mot_joint_abb_0
mot_straight_abb_0
mot_straight_abb_0
mot_joint_abb_0
mot_aux1_0
mot_aux2_0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1
0 0 0 0 0 0
0 0 0 0 30 0
=dof(1)
=dof(2)
=dof(3)
=dof(4)
=dof(5)
=dof(6)
-99 -99 -99 -99 -99 -99
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1 1 1
-4.371138828673793e-008 0 -1 0
0 1 0 0
1 0 -4.371138828673793e-008 0
310 0 0 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1000 1580 1475 0 0 0
420 0 310 0 0 0
0 0 0 0 0 0 0 0
-2.96706
= inrange(dof(3),(-30*RAD),(2*RAD))*(-65*RAD) + inrange(dof(3),(2*RAD),(132*RAD))*(dof(3)-(67*RAD))
= inrange(dof(2),(-65*RAD),(30*RAD))*(-30*RAD) + inrange(dof(2),(30*RAD),(90*RAD))*(dof(2)-(60*RAD))
-5.23599
-2.26893
-6.28319
2.96706
= inrange(dof(3),(-30*RAD),(30*RAD))*(dof(3)+(60*RAD)) + inrange(dof(3),(30*RAD),(132*RAD))*(90*RAD)
= inrange(dof(2),(-65*RAD),(65*RAD))*(dof(2)+(67*RAD)) + inrange(dof(2),(65*RAD),(90*RAD))*(132*RAD)
5.23599
2.26893
6.28319
100 100 100 210 150 210
130 160 165 570 570 630
0.5 0.5 0.5 0.5 0.5 0.5
0.08 0.06 0.04 0.04 0.04 0.04
0.08 0.06 0.04 0.04 0.04 0.04
34
0
0 0
*
*
*
*
*
*
*
*
*
*
IRB6400
0
0
0
*
*
*
*
Home_0
Home_30
0
*
*
Joint 1
Joint 2
Joint 3
Joint 4
Joint 5
Joint 6
Utool 1
Uframe 1
0 0 0
0
0.1 0.00174533
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
1 1 1 1 1 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
0 0 0 0 0 0
0 0 0 0 0 0
11
*RAPID
*RAPID
1 1 1 1 1 1
1 1 1 1 1 1
0 0 0 0
*
*
*
*
*
*
0
0
no_app_file
3
no_par_file
0 1 1 1
1
6
13 1 1 262148 0 0 
-1 -1
-1 -1 -1
-1 -1 -1
-1 -1 -1
7
0
0 267 0
Device Sequence Information
2
*
0
*
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_all_irc5_rev00_base
0
0
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_base
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_all_irc5_rev00_link1
2 5 18
1 1
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_link1
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
420 0 1000 1
IRB8700_all_irc5_rev00_linkarm
2 5 17
1 3
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_linkarm
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
420 0 1000 1
IRB8700_all_irc5_rev00_link2
2 5 17
1 2
0
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_link2
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1580 1
IRB8700_all_irc5_rev00_cyls
2 5 17
0
1
=sasa(330,DOF(2)-10*RAD,1580)+2.614*RAD
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_cyls
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
21 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
-1 0 1.509958025280866e-007 0
0 1 0 0
-1.509958025280866e-007 0 -1 0
57.3040885925293 0 -6.3284912109375 1
IRB8700_all_irc5_rev00_rods
2 5 15
0
1
=sass(330,10*RAD-dof(2),1580)
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_rods
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
001
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1580 1
IRB8700_all_irc5_rev00_link3
2 5 17
0
1
=dof(3)-dof(2)
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_link3
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
-600 0 0 1
IRB8700_all_irc5_rev00_linkbar
2 5 17
0
1
=DOF(2)-dof(3)
10
0
*
*
*
*
*IRB8700_all_irc5_rev00_linkbar
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
01
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
1475 0 310 1
IRB8700_800-350_irc5_rev00_link4
2 5 16
1 4
0
10
0
*
*
*
*
*IRB8700_800-350_irc5_rev00_link4
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
-1 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_std_irc5_rev00_link5
2 5 17
1 5
0
10
0
*
*
*
*
*IRB8700_std_irc5_rev00_link5
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
1
21 1 1 262145 0 
-1 0.25
0.25 0.25 0.25
-1 -1 -1
-1 -1 -1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
IRB8700_std_irc5_rev00_link6
2 5 16
1 6
0
10
0
*
*
*
*
*IRB8700_std_irc5_rev00_link6
0
**BEGIN_ATTRIBUTES**
0
**END_ATTRIBUTES**
000000010
0
0
0
0
0
0
0
0
0
25
0
0
0
0
0
0
0
0
0
0
0
0
0
0
**BEGIN_ATTRIBUTES**
8
1
2
Robot Name
3 1 0 0
*IRB_6400_30_75
.UUID
3 1 0 0
*0_e5_39e38c20_78d
**END_ATTRIBUTES**
